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Example Malaga2009 Campus 2L
matlabbe edited this page Jul 19, 2015
·
2 revisions
Output of MATLAB for Precision/Recall:
--- getPrecisionRecall ---
Loading GroundTruth 'malaga2009_campus_2L.png' ...
GT_total_positives =
114
False positive! id=343 with old=280 (p=0.15039)
False positive accepted! id=343 with old=280 (p=0.15039)
False positive! id=342 with old=280 (p=0.14114)
False positive accepted! id=342 with old=280 (p=0.14114)
False positive! id=341 with old=281 (p=0.135)
False positive accepted! id=341 with old=281 (p=0.135)
False positive! id=344 with old=299 (p=0.13081)
False positive accepted! id=344 with old=299 (p=0.13081)
False positive! id=340 with old=281 (p=0.12666)
False positive accepted! id=340 with old=281 (p=0.12666)
False positive! id=345 with old=299 (p=0.1215)
False positive accepted! id=345 with old=299 (p=0.1215)
False positive! id=339 with old=276 (p=0.11837)
False positive accepted! id=339 with old=276 (p=0.11837)
False positive! id=338 with old=276 (p=0.11729)
False positive accepted! id=338 with old=276 (p=0.11729)
False positive! id=337 with old=281 (p=0.11724)
False positive accepted! id=337 with old=281 (p=0.11724)
False positive! id=336 with old=280 (p=0.10687)
False positive! id=312 with old=46 (p=0.10362)
False positive! id=346 with old=299 (p=0.10299)
False positive! id=349 with old=281 (p=0.10239)
False positive! id=348 with old=281 (p=0.099015)
False positive! id=97 with old=12 (p=0.09674)
False positive! id=335 with old=280 (p=0.09613)
False positive! id=96 with old=9 (p=0.095517)
False positive! id=347 with old=299 (p=0.093472)
False positive! id=95 with old=9 (p=0.092973)
False positive! id=311 with old=46 (p=0.090511)
False positive! id=94 with old=9 (p=0.08766)
False positive! id=334 with old=42 (p=0.084134)
False positive! id=633 with old=361 (p=0.082661)
False positive! id=310 with old=46 (p=0.079755)
False positive! id=350 with old=283 (p=0.079472)
False positive! id=369 with old=238 (p=0.077577)
False positive! id=93 with old=9 (p=0.076487)
False positive! id=541 with old=268 (p=0.075539)
False positive! id=101 with old=31 (p=0.075453)
False positive! id=353 with old=304 (p=0.074886)
False positive! id=368 with old=238 (p=0.074172)
False positive! id=490 with old=418 (p=0.073792)
False positive! id=351 with old=286 (p=0.073218)
False positive! id=125 with old=29 (p=0.072349)
False positive! id=183 with old=31 (p=0.072023)
False positive! id=107 with old=31 (p=0.072011)
False positive! id=128 with old=48 (p=0.071887)
False positive! id=187 with old=26 (p=0.071698)
False positive! id=219 with old=35 (p=0.071347)
False positive! id=98 with old=12 (p=0.071127)
False positive! id=352 with old=286 (p=0.070946)
False positive! id=182 with old=31 (p=0.070863)
False positive! id=247 with old=183 (p=0.070768)
False positive! id=489 with old=418 (p=0.070213)
False positive! id=138 with old=51 (p=0.070074)
False positive! id=132 with old=74 (p=0.070017)
Recall max (Precision=100%) = 95.614% (p=0.16477), accepted=109
Recall max accepted (Precision=100%) = 95.614% (p=0.16477), accepted=109
ignored = 0
Output of rtabmap-console:
$ ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.2 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 1000 -Rtabmap/TimeThr 700 -createGT /Volumes/SD-32GB/malaga2009_campus_2L
Deleted database "rtabmapconsole.db".
Avpd init time = 0.034730s
Parameters :
Data set : /Volumes/SD-32GB/malaga2009_campus_2L
Time threshold = 700.00 ms
Image rate = 0.00 s (inf Hz)
Repeating data set = false
Camera starts at image 1 (default 1)
Creating the ground truth matrix.
INFO: All other parameters are set to defaults
Overwritten parameters :
Bayes/FullPredictionUpdate=true
Kp/BadSignRatio=0.25
Kp/TfIdfLikelihoodUsed=false
Kp/WordsPerImage=400
Mem/BadSignaturesIgnored=true
Mem/RecentWmRatio=0.2
Mem/RehearsalIdUpdatedToNewOne=true
Mem/RehearsalSimilarity=0.2
Mem/STMSize=30
RGBD/Enabled=false
Rtabmap/LoopRatio=0.0
Rtabmap/PublishStats=false
Rtabmap/StatisticLogged=true
Rtabmap/StatisticLoggedHeaders=false
Rtabmap/TimeThr=700
SURF/Extended=false
SURF/HessianThreshold=1000
Processing images...
iteration(1) time=0.362068s/0.377545s
iteration(2) time=0.215293s/0.233722s
iteration(3) time=0.215573s/0.238065s
iteration(4) time=0.221967s/0.240630s
iteration(5) time=0.223186s/0.240517s
iteration(6) time=0.226966s/0.246672s
iteration(7) time=0.225700s/0.243371s
iteration(8) time=0.205921s/0.225484s
iteration(9) time=0.192030s/0.207751s
iteration(10) time=0.195237s/0.216717s
iteration(11) time=0.214652s/0.232907s
iteration(12) time=0.205679s/0.224389s
iteration(13) time=0.195892s/0.214767s
iteration(14) time=0.204499s/0.220018s
iteration(15) time=0.206718s/0.223244s
iteration(16) time=0.210024s/0.233077s
iteration(17) time=0.209785s/0.228656s
iteration(18) time=0.222529s/0.239466s
iteration(19) time=0.220788s/0.239672s
iteration(20) time=0.217409s/0.235932s
iteration(21) time=0.217164s/0.237175s
iteration(22) time=0.221063s/0.240441s
iteration(23) time=0.225877s/0.243505s
iteration(24) time=0.217407s/0.238561s
iteration(25) time=0.239888s/0.257038s
iteration(26) time=0.246363s/0.268366s
iteration(27) time=0.227774s/0.249662s
iteration(28) time=0.214982s/0.232600s
iteration(29) time=0.219400s/0.237634s
iteration(30) time=0.213060s/0.236494s
iteration(31) time=0.210824s/0.229030s
iteration(32) time=0.210832s/0.226528s
iteration(33) time=0.216727s/0.236503s
iteration(34) time=0.214237s/0.233449s
iteration(35) time=0.202503s/0.224129s
iteration(36) time=0.200808s/0.219542s
iteration(37) time=0.210482s/0.229148s
iteration(38) time=0.217874s/0.236082s
iteration(39) time=0.221123s/0.239816s
iteration(40) time=0.210846s/0.230288s
iteration(41) time=0.214711s/0.233085s
iteration(42) time=0.208809s/0.226094s
iteration(43) time=0.204883s/0.225266s
iteration(44) time=0.229409s/0.245771s
iteration(45) time=0.214935s/0.233099s
iteration(46) time=0.213990s/0.233039s
iteration(47) time=0.228589s/0.248137s
iteration(48) time=0.221387s/0.238496s
iteration(49) time=0.205390s/0.225758s
iteration(50) time=0.218672s/0.238178s
iteration(51) time=0.202115s/0.221042s
iteration(52) time=0.202696s/0.221703s
iteration(53) time=0.209108s/0.226259s
iteration(54) time=0.208288s/0.227300s
iteration(55) time=0.219531s/0.236455s
iteration(56) time=0.206592s/0.226413s
iteration(57) time=0.212721s/0.230742s
iteration(58) time=0.203790s/0.222659s
iteration(59) time=0.199253s/0.217365s
iteration(60) time=0.214279s/0.235164s
iteration(61) time=0.218615s/0.239120s
iteration(62) time=0.208436s/0.226417s
iteration(63) time=0.210419s/0.229626s
iteration(64) time=0.217508s/0.236414s
iteration(65) time=0.214876s/0.235324s
iteration(66) time=0.231329s/0.250347s
iteration(67) time=0.210251s/0.226874s
iteration(68) time=0.219368s/0.237798s
iteration(69) time=0.199792s/0.217443s
iteration(70) time=0.209759s/0.229164s
iteration(71) time=0.197221s/0.215511s
iteration(72) time=0.199902s/0.220219s
iteration(73) time=0.211271s/0.229517s
iteration(74) time=0.205486s/0.223445s
iteration(75) time=0.199522s/0.218865s
iteration(76) time=0.213757s/0.232193s
iteration(77) time=0.199230s/0.214923s
iteration(78) time=0.205294s/0.222226s
iteration(79) time=0.204091s/0.225913s
iteration(80) time=0.200311s/0.216954s
iteration(81) time=0.205873s/0.224927s
iteration(82) time=0.223610s/0.242351s
iteration(83) time=0.214562s/0.233546s
iteration(84) time=0.218688s/0.237281s
iteration(85) time=0.201909s/0.220445s
iteration(86) time=0.200191s/0.219313s
iteration(87) time=0.213768s/0.232053s
iteration(88) time=0.209299s/0.231408s
iteration(89) time=0.224143s/0.244409s
iteration(90) time=0.213563s/0.234475s
iteration(91) time=0.226067s/0.243764s
iteration(92) high(9) hyp(0.05) time=0.211368s/0.234744s
iteration(93) high(9) hyp(0.08) time=0.234053s/0.253711s
iteration(94) high(9) hyp(0.09) time=0.215375s/0.235776s
iteration(95) high(9) hyp(0.09) time=0.231814s/0.250709s
iteration(96) high(9) hyp(0.10) time=0.219615s/0.238425s
iteration(97) high(12) hyp(0.10) time=0.232829s/0.249655s
iteration(98) high(12) hyp(0.07) time=0.240497s/0.257240s
iteration(99) high(9) hyp(0.04) time=0.239597s/0.256762s
count = 100, loop closures = 0, max time (at 1) = 0.362068s
WM(7)=[9,8;12,2;13,0;15,1;21,5;26,4;29,2]
iteration(100) high(21) hyp(0.04) time=0.239961s/0.260215s
iteration(101) high(31) hyp(0.08) time=0.243960s/0.260614s
iteration(102) high(15) hyp(0.04) time=0.230277s/0.250391s
iteration(103) high(15) hyp(0.03) time=0.235626s/0.252088s
iteration(104) high(29) hyp(0.05) time=0.215303s/0.238438s
iteration(105) high(37) hyp(0.07) time=0.231975s/0.252858s
iteration(106) high(35) hyp(0.05) time=0.269488s/0.290650s
iteration(107) high(31) hyp(0.07) time=0.264006s/0.280202s
iteration(108) high(39) hyp(0.07) time=0.222691s/0.238529s
iteration(109) high(39) hyp(0.06) time=0.237798s/0.253905s
iteration(110) high(39) hyp(0.06) time=0.231156s/0.248281s
iteration(111) high(39) hyp(0.06) time=0.217418s/0.235219s
iteration(112) high(39) hyp(0.07) time=0.238098s/0.256183s
iteration(113) high(35) hyp(0.05) time=0.211553s/0.230329s
iteration(114) high(35) hyp(0.05) time=0.231663s/0.251237s
iteration(115) high(35) hyp(0.06) time=0.213151s/0.233781s
iteration(116) high(35) hyp(0.06) time=0.232187s/0.250298s
iteration(117) high(35) hyp(0.05) time=0.208193s/0.229325s
iteration(118) high(35) hyp(0.05) time=0.237687s/0.256430s
iteration(119) high(35) hyp(0.06) time=0.216689s/0.237290s
iteration(120) high(35) hyp(0.06) time=0.236627s/0.255601s
iteration(121) high(31) hyp(0.06) time=0.208609s/0.228369s
iteration(122) high(31) hyp(0.06) time=0.238833s/0.257641s
iteration(123) high(64) hyp(0.07) time=0.205840s/0.226862s
iteration(124) high(64) hyp(0.07) time=0.246177s/0.266073s
iteration(125) high(29) hyp(0.07) time=0.215639s/0.235164s
iteration(126) high(68) hyp(0.06) time=0.254321s/0.275827s
iteration(127) high(48) hyp(0.07) time=0.278644s/0.307724s
iteration(128) high(48) hyp(0.07) time=0.264065s/0.283726s
iteration(129) high(58) hyp(0.07) time=0.214414s/0.230790s
iteration(130) high(58) hyp(0.06) time=0.243289s/0.261838s
iteration(131) high(74) hyp(0.07) time=0.216158s/0.234594s
iteration(132) high(74) hyp(0.07) time=0.239694s/0.260289s
iteration(133) high(29) hyp(0.07) time=0.223327s/0.239620s
iteration(134) high(29) hyp(0.07) time=0.251340s/0.267914s
iteration(135) high(71) hyp(0.06) time=0.220847s/0.243042s
iteration(136) high(71) hyp(0.06) time=0.247690s/0.267831s
iteration(137) high(51) hyp(0.07) time=0.226868s/0.246151s
iteration(138) high(51) hyp(0.07) time=0.260999s/0.281031s
iteration(139) high(48) hyp(0.07) time=0.242080s/0.262879s
iteration(140) high(91) hyp(0.07) time=0.262882s/0.285370s
iteration(141) high(91) hyp(0.06) time=0.268846s/0.289842s
iteration(142) high(93) hyp(0.06) time=0.266572s/0.283135s
iteration(143) high(89) hyp(0.06) time=0.270340s/0.292152s
iteration(144) high(91) hyp(0.06) time=0.261846s/0.277690s
iteration(145) high(99) hyp(0.06) time=0.266287s/0.285756s
iteration(146) high(29) hyp(0.06) time=0.229832s/0.250771s
iteration(147) high(39) hyp(0.06) time=0.261763s/0.280194s
iteration(148) high(48) hyp(0.06) time=0.236795s/0.257906s
iteration(149) high(29) hyp(0.06) time=0.270248s/0.288683s
iteration(150) high(95) hyp(0.06) time=0.270310s/0.286713s
iteration(151) high(95) hyp(0.07) time=0.276367s/0.293122s
iteration(152) high(55) hyp(0.06) time=0.266676s/0.287886s
iteration(153) high(71) hyp(0.06) time=0.268129s/0.290024s
iteration(154) high(71) hyp(0.06) time=0.272146s/0.291616s
iteration(155) high(105) hyp(0.06) time=0.240251s/0.257833s
iteration(156) high(99) hyp(0.07) time=0.283858s/0.303521s
iteration(157) high(93) hyp(0.06) time=0.270256s/0.286741s
iteration(158) high(93) hyp(0.06) time=0.263887s/0.280321s
iteration(159) high(107) hyp(0.06) time=0.274885s/0.292504s
iteration(160) high(114) hyp(0.06) time=0.274696s/0.293609s
iteration(161) high(116) hyp(0.06) time=0.277123s/0.294943s
iteration(162) high(13) hyp(0.07) time=0.279563s/0.301763s
iteration(163) high(29) hyp(0.06) time=0.279517s/0.295835s
iteration(164) high(26) hyp(0.06) time=0.275774s/0.297208s
iteration(165) high(29) hyp(0.06) time=0.282295s/0.303215s
iteration(166) high(104) hyp(0.06) time=0.292123s/0.312696s
iteration(167) high(118) hyp(0.05) time=0.298104s/0.314837s
iteration(168) high(107) hyp(0.06) time=0.284397s/0.301328s
iteration(169) high(106) hyp(0.06) time=0.281851s/0.299284s
iteration(170) high(124) hyp(0.06) time=0.298744s/0.315060s
iteration(171) high(124) hyp(0.06) time=0.292687s/0.310025s
iteration(172) high(42) hyp(0.07) time=0.224623s/0.241125s
iteration(173) high(42) hyp(0.07) time=0.312002s/0.330221s
iteration(174) high(104) hyp(0.07) time=0.220897s/0.238151s
iteration(175) high(104) hyp(0.07) time=0.292415s/0.311815s
iteration(176) high(104) hyp(0.07) time=0.211384s/0.231394s
iteration(177) high(104) hyp(0.07) time=0.208014s/0.232860s
iteration(178) high(46) hyp(0.07) time=0.202814s/0.223202s
iteration(179) high(46) hyp(0.07) time=0.276564s/0.295453s
iteration(180) high(35) hyp(0.07) time=0.198522s/0.217502s
iteration(181) high(35) hyp(0.07) time=0.280513s/0.295865s
iteration(182) high(31) hyp(0.07) time=0.201530s/0.216687s
iteration(183) high(31) hyp(0.07) time=0.286240s/0.302100s
iteration(184) high(55) hyp(0.07) time=0.213725s/0.227600s
iteration(185) high(55) hyp(0.07) time=0.289391s/0.305354s
iteration(186) high(26) hyp(0.07) time=0.214187s/0.231918s
iteration(187) high(26) hyp(0.07) time=0.378574s/0.393163s
iteration(188) high(74) hyp(0.06) time=0.244823s/0.262237s
iteration(189) high(74) hyp(0.05) time=0.298626s/0.312436s
iteration(190) high(96) hyp(0.06) time=0.201509s/0.218908s
iteration(191) high(96) hyp(0.06) time=0.287540s/0.303894s
iteration(192) high(96) hyp(0.06) time=0.210034s/0.228761s
iteration(193) high(35) hyp(0.06) time=0.204039s/0.218425s
iteration(194) high(35) hyp(0.06) time=0.300478s/0.318287s
iteration(195) high(46) hyp(0.06) time=0.207158s/0.224364s
iteration(196) high(120) hyp(0.05) time=0.300885s/0.318395s
iteration(197) high(120) hyp(0.05) time=0.283327s/0.300622s
iteration(198) high(77) hyp(0.05) time=0.212197s/0.228724s
iteration(199) high(77) hyp(0.05) time=0.281091s/0.297681s
count = 200, loop closures = 0, max time (at 187) = 0.378574s
WM(73)=[9,8;12,2;13,0;15,1;21,5;26,4;29,2;31,1;35,3;37,1;39,1;42,2;46,3;48,1;51,2;55,3;58,2;61,2;64,2;66,1;68,1;71,2;74,2;77,2;80,2;82,1;85,2;87,1;89,1;91,1;93,1;95,1;96,0;97,0;98,0;99,0;100,0;101,0;103,1;104,0;105,0;106,0;107,0;108,0;110,1;112,1;114,1;116,1;118,1;120,1;122,1;124,1;125,0;126,0;128,1;130,1;132,1;134,1;136,1;138,1;139,0;140,0;141,0;142,0;143,0;145,1;147,1;148,0;149,0;150,0;151,0;152,0;154,1]
iteration(200) high(114) hyp(0.06) time=0.201377s/0.219819s
iteration(201) high(91) hyp(0.06) time=0.296613s/0.314900s
iteration(202) high(58) hyp(0.06) time=0.215136s/0.233533s
iteration(203) high(58) hyp(0.06) time=0.282770s/0.300341s
iteration(204) high(61) hyp(0.05) time=0.203444s/0.222487s
iteration(205) high(61) hyp(0.05) time=0.305337s/0.320318s
iteration(206) high(136) hyp(0.06) time=0.207825s/0.225034s
iteration(207) high(35) hyp(0.06) time=0.313278s/0.332215s
iteration(208) high(51) hyp(0.06) time=0.229120s/0.246097s
iteration(209) high(51) hyp(0.06) time=0.324330s/0.338377s
iteration(210) high(37) hyp(0.07) time=0.212382s/0.226582s
iteration(211) high(37) hyp(0.07) time=0.295768s/0.311034s
iteration(212) high(136) hyp(0.06) time=0.209597s/0.225079s
iteration(213) high(136) hyp(0.06) time=0.334255s/0.350042s
iteration(214) high(13) hyp(0.07) time=0.208774s/0.222643s
iteration(215) high(13) hyp(0.07) time=0.307713s/0.325534s
iteration(216) high(35) hyp(0.06) time=0.204098s/0.223785s
iteration(217) high(26) hyp(0.06) time=0.319053s/0.337038s
iteration(218) high(31) hyp(0.07) time=0.257545s/0.275969s
iteration(219) high(35) hyp(0.07) time=0.296854s/0.312561s
iteration(220) high(26) hyp(0.07) time=0.195392s/0.212787s
iteration(221) high(26) hyp(0.06) time=0.302176s/0.318001s
iteration(222) high(55) hyp(0.05) time=0.212796s/0.227347s
iteration(223) high(55) hyp(0.05) time=0.323736s/0.339731s
iteration(224) high(46) hyp(0.06) time=0.206408s/0.222148s
iteration(225) high(37) hyp(0.06) time=0.313750s/0.329628s
iteration(226) high(35) hyp(0.06) time=0.211377s/0.225486s
iteration(227) high(35) hyp(0.06) time=0.310704s/0.324377s
iteration(228) high(42) hyp(0.06) time=0.207476s/0.223919s
iteration(229) high(42) hyp(0.06) time=0.315272s/0.333418s
iteration(230) high(35) hyp(0.05) time=0.207572s/0.224060s
iteration(231) high(35) hyp(0.05) time=0.324220s/0.339954s
iteration(232) high(35) hyp(0.05) time=0.200346s/0.216585s
iteration(233) high(35) hyp(0.05) time=0.321203s/0.338591s
iteration(234) high(116) hyp(0.05) time=0.207846s/0.226975s
iteration(235) high(116) hyp(0.05) time=0.317194s/0.334090s
iteration(236) high(159) hyp(0.06) time=0.220942s/0.237981s
iteration(237) high(159) hyp(0.06) time=0.334144s/0.348543s
iteration(238) high(159) hyp(0.06) time=0.218890s/0.234995s
iteration(239) high(158) hyp(0.05) time=0.212486s/0.226843s
iteration(240) high(158) hyp(0.05) time=0.321882s/0.338949s
iteration(241) high(158) hyp(0.05) time=0.213566s/0.228362s
iteration(242) high(71) hyp(0.06) time=0.221254s/0.237174s
iteration(243) high(71) hyp(0.06) time=0.351557s/0.368392s
iteration(244) high(181) hyp(0.06) time=0.218646s/0.233080s
iteration(245) high(77) hyp(0.07) time=0.215946s/0.234421s
iteration(246) high(77) hyp(0.07) time=0.336870s/0.354465s
iteration(247) high(183) hyp(0.07) time=0.218170s/0.235368s
iteration(248) high(71) hyp(0.06) time=0.209070s/0.228821s
iteration(249) high(71) hyp(0.05) time=0.331117s/0.345953s
iteration(250) high(71) hyp(0.05) time=0.223071s/0.241015s
iteration(251) high(136) hyp(0.06) time=0.225159s/0.244854s
iteration(252) high(181) hyp(0.06) time=0.342504s/0.363568s
iteration(253) high(64) hyp(0.05) time=0.346128s/0.366013s
iteration(254) high(64) hyp(0.06) time=0.337936s/0.357873s
iteration(255) high(46) hyp(0.07) time=0.347730s/0.364410s
iteration(256) high(46) hyp(0.07) time=0.346935s/0.365875s
iteration(257) high(46) hyp(0.06) time=0.214548s/0.234719s
iteration(258) high(164) hyp(0.06) time=0.345076s/0.366878s
iteration(259) high(164) hyp(0.06) time=0.348922s/0.366732s
iteration(260) high(31) hyp(0.06) time=0.227275s/0.245863s
iteration(261) high(37) hyp(0.06) time=0.330798s/0.348180s
iteration(262) high(138) hyp(0.06) time=0.217472s/0.238615s
iteration(263) high(185) hyp(0.06) time=0.352965s/0.374416s
iteration(264) high(185) hyp(0.06) time=0.337028s/0.356121s
iteration(265) high(31) hyp(0.05) time=0.219848s/0.238996s
iteration(266) high(29) hyp(0.05) time=0.369337s/0.389649s
iteration(267) high(37) hyp(0.05) time=0.234213s/0.250749s
iteration(268) high(37) hyp(0.06) time=0.366993s/0.387727s
iteration(269) high(93) hyp(0.06) time=0.233930s/0.254119s
iteration(270) high(99) hyp(0.05) time=0.373197s/0.388839s
iteration(271) high(99) hyp(0.05) time=0.373748s/0.392798s
iteration(272) high(29) hyp(0.07) time=0.215305s/0.232332s
iteration(273) high(89) hyp(0.06) time=0.369282s/0.385521s
iteration(274) high(105) hyp(0.06) time=0.364536s/0.382639s
iteration(275) high(29) hyp(0.05) time=0.219153s/0.235576s
iteration(276) high(29) hyp(0.05) time=0.360546s/0.379451s
iteration(277) high(82) hyp(0.06) time=0.213983s/0.233548s
iteration(278) high(82) hyp(0.06) time=0.388315s/0.406744s
iteration(279) high(112) hyp(0.05) time=0.222171s/0.238454s
iteration(280) high(112) hyp(0.05) time=0.378207s/0.397849s
iteration(281) high(39) hyp(0.07) time=0.234796s/0.251522s
iteration(282) high(164) hyp(0.06) time=0.384734s/0.401264s
iteration(283) high(164) hyp(0.06) time=0.393580s/0.410538s
iteration(284) high(165) hyp(0.06) time=0.232114s/0.251938s
iteration(285) high(110) hyp(0.06) time=0.391389s/0.410342s
iteration(286) high(110) hyp(0.06) time=0.366356s/0.389909s
iteration(287) high(37) hyp(0.06) time=0.225598s/0.247064s
iteration(288) high(108) hyp(0.06) time=0.391959s/0.413171s
iteration(289) high(143) hyp(0.06) time=0.370974s/0.387709s
iteration(290) high(156) hyp(0.05) time=0.396819s/0.418336s
iteration(291) high(157) hyp(0.04) time=0.391075s/0.407197s
iteration(292) high(152) hyp(0.05) time=0.396192s/0.417243s
iteration(293) high(91) hyp(0.05) time=0.401074s/0.418035s
iteration(294) high(87) hyp(0.05) time=0.225503s/0.247036s
iteration(295) high(156) hyp(0.05) time=0.395778s/0.415246s
iteration(296) high(139) hyp(0.05) time=0.226088s/0.244613s
iteration(297) high(139) hyp(0.05) time=0.399195s/0.417806s
iteration(298) high(46) hyp(0.06) time=0.232783s/0.250550s
iteration(299) high(46) hyp(0.06) time=0.407931s/0.424575s
count = 300, loop closures = 0, max time (at 299) = 0.407931s
WM(128)=[9,8;12,2;13,0;15,1;21,5;26,4;29,2;31,1;35,3;37,1;39,1;42,2;46,3;48,1;51,2;55,3;58,2;61,2;64,2;66,1;68,1;71,2;74,2;77,2;80,2;82,1;85,2;87,1;89,1;91,1;93,1;95,1;96,0;97,0;98,0;99,0;100,0;101,0;103,1;104,0;105,0;106,0;107,0;108,0;110,1;112,1;114,1;116,1;118,1;120,1;122,1;124,1;125,0;126,0;128,1;130,1;132,1;134,1;136,1;138,1;139,0;140,0;141,0;142,0;143,0;145,1;147,1;148,0;149,0;150,0;151,0;152,0;154,1;155,0;156,0;157,0;158,0;159,0;160,0;161,0;162,0;163,0;164,0;165,0;166,0;167,0;168,0;169,0;171,1;173,1;177,3;179,1;181,1;183,1;185,1;187,1;189,1;192,2;194,1;195,0;197,1;199,1;201,1;203,1;205,1;207,1;209,1;211,1;213,1;215,1;217,1;219,1;221,1;223,1;225,1;227,1;229,1;231,1;233,1;235,1;238,2;241,2;244,2;247,2;250,2;251,0;252,0;253,0]
iteration(300) high(74) hyp(0.06) time=0.236208s/0.256929s
iteration(301) high(112) hyp(0.07) time=0.406751s/0.428340s
iteration(302) high(112) hyp(0.06) time=0.418552s/0.434979s
iteration(303) high(74) hyp(0.06) time=0.410601s/0.427266s
iteration(304) high(74) hyp(0.06) time=0.414074s/0.432371s
iteration(305) high(238) hyp(0.05) time=0.237419s/0.256377s
iteration(306) high(207) hyp(0.05) time=0.408145s/0.424357s
iteration(307) high(261) hyp(0.06) time=0.418356s/0.440140s
iteration(308) high(261) hyp(0.06) time=0.414114s/0.432832s
iteration(309) high(261) hyp(0.06) time=0.420753s/0.437768s
iteration(310) high(46) hyp(0.08) time=0.231226s/0.251269s
iteration(311) high(46) hyp(0.09) time=0.439937s/0.460088s
iteration(312) high(46) hyp(0.10) time=0.276321s/0.296572s
iteration(313) loop(39) hyp(0.13) time=0.418734s/0.435591s *
iteration(314) loop(39) hyp(0.17) time=0.421427s/0.439780s *
iteration(315) loop(39) hyp(0.26) time=0.416351s/0.436211s *
iteration(316) loop(39) hyp(0.40) time=0.417779s/0.439870s *
iteration(317) loop(42) hyp(0.63) time=0.423219s/0.438990s *
iteration(318) loop(46) hyp(0.83) time=0.409768s/0.425287s *
iteration(319) loop(46) hyp(0.92) time=0.407308s/0.426463s *
iteration(320) loop(46) hyp(0.95) time=0.230572s/0.251142s *
iteration(321) loop(46) hyp(0.96) time=0.442993s/0.461686s *
iteration(322) loop(46) hyp(0.95) time=0.235442s/0.254467s *
iteration(323) loop(46) hyp(0.94) time=0.419739s/0.439119s *
iteration(324) loop(46) hyp(0.91) time=0.236022s/0.251988s *
iteration(325) loop(46) hyp(0.88) time=0.430023s/0.448221s *
iteration(326) loop(46) hyp(0.88) time=0.228289s/0.246880s *
iteration(327) loop(46) hyp(0.88) time=0.426394s/0.446079s *
iteration(328) loop(46) hyp(0.79) time=0.220857s/0.239755s *
iteration(329) loop(46) hyp(0.71) time=0.434472s/0.453077s *
iteration(330) loop(46) hyp(0.60) time=0.230598s/0.250154s *
iteration(331) loop(46) hyp(0.40) time=0.446555s/0.467198s *
iteration(332) loop(46) hyp(0.21) time=0.428265s/0.448736s *
iteration(333) loop(42) hyp(0.12) time=0.450574s/0.472091s *
iteration(334) high(42) hyp(0.08) time=0.426915s/0.446264s
iteration(335) high(280) hyp(0.10) time=0.240920s/0.260676s
iteration(336) high(280) hyp(0.11) time=0.440604s/0.456729s
iteration(337) loop(281) hyp(0.12) time=0.225872s/0.246403s *
iteration(338) loop(276) hyp(0.12) time=0.442535s/0.462064s *
iteration(339) loop(276) hyp(0.12) time=0.445477s/0.465074s *
iteration(340) loop(281) hyp(0.13) time=0.233431s/0.252709s *
iteration(341) loop(281) hyp(0.14) time=0.447161s/0.466018s *
iteration(342) loop(280) hyp(0.14) time=0.230848s/0.248765s *
iteration(343) loop(280) hyp(0.15) time=0.461769s/0.479891s *
iteration(344) loop(299) hyp(0.13) time=0.232238s/0.250020s *
iteration(345) loop(299) hyp(0.12) time=0.454601s/0.473004s *
iteration(346) high(299) hyp(0.10) time=0.224613s/0.244160s
iteration(347) high(299) hyp(0.09) time=0.456996s/0.477034s
iteration(348) high(281) hyp(0.10) time=0.234595s/0.250613s
iteration(349) high(281) hyp(0.10) time=0.464168s/0.482475s
iteration(350) high(283) hyp(0.08) time=0.230012s/0.248799s
iteration(351) high(286) hyp(0.07) time=0.461426s/0.479537s
iteration(352) high(286) hyp(0.07) time=0.459497s/0.478318s
iteration(353) high(304) hyp(0.07) time=0.231425s/0.252992s
iteration(354) high(300) hyp(0.07) time=0.459093s/0.478024s
iteration(355) high(289) hyp(0.06) time=0.463567s/0.483069s
iteration(356) high(289) hyp(0.06) time=0.468249s/0.486613s
iteration(357) high(293) hyp(0.06) time=0.228164s/0.247522s
iteration(358) high(293) hyp(0.06) time=0.463840s/0.480774s
iteration(359) high(295) hyp(0.06) time=0.222226s/0.240970s
iteration(360) high(29) hyp(0.05) time=0.475955s/0.496213s
iteration(361) high(235) hyp(0.05) time=0.475834s/0.493845s
iteration(362) high(250) hyp(0.06) time=0.246670s/0.265643s
iteration(363) high(183) hyp(0.07) time=0.467293s/0.486475s
iteration(364) high(183) hyp(0.06) time=0.479406s/0.499734s
iteration(365) high(183) hyp(0.06) time=0.502950s/0.518522s
iteration(366) high(213) hyp(0.06) time=0.311182s/0.327177s
iteration(367) high(233) hyp(0.07) time=0.513286s/0.529589s
iteration(368) high(238) hyp(0.07) time=0.235423s/0.253396s
iteration(369) high(238) hyp(0.08) time=0.474416s/0.490646s
iteration(370) high(235) hyp(0.06) time=0.241564s/0.259459s
iteration(371) high(64) hyp(0.06) time=0.485038s/0.502426s
iteration(372) high(221) hyp(0.07) time=0.231438s/0.249554s
iteration(373) high(221) hyp(0.07) time=0.475350s/0.489395s
iteration(374) high(189) hyp(0.07) time=0.493755s/0.509345s
iteration(375) high(185) hyp(0.06) time=0.247243s/0.263816s
iteration(376) high(241) hyp(0.05) time=0.487281s/0.506602s
iteration(377) high(241) hyp(0.05) time=0.485757s/0.499462s
iteration(378) high(241) hyp(0.05) time=0.490771s/0.505448s
iteration(379) high(231) hyp(0.05) time=0.243010s/0.260735s
iteration(380) high(231) hyp(0.06) time=0.506651s/0.525139s
iteration(381) high(46) hyp(0.05) time=0.245686s/0.264149s
iteration(382) high(235) hyp(0.05) time=0.502869s/0.518240s
iteration(383) high(235) hyp(0.05) time=0.511232s/0.526487s
iteration(384) high(217) hyp(0.05) time=0.502602s/0.521739s
iteration(385) high(217) hyp(0.05) time=0.524672s/0.543015s
iteration(386) high(253) hyp(0.06) time=0.246781s/0.265728s
iteration(387) high(253) hyp(0.06) time=0.560649s/0.579727s
iteration(388) high(253) hyp(0.05) time=0.242569s/0.260232s
iteration(389) high(253) hyp(0.04) time=0.518668s/0.537873s
iteration(390) high(251) hyp(0.05) time=0.239602s/0.260229s
iteration(391) high(251) hyp(0.05) time=0.507797s/0.527796s
iteration(392) high(256) hyp(0.05) time=0.243324s/0.263573s
iteration(393) high(256) hyp(0.06) time=0.524625s/0.544391s
iteration(394) high(155) hyp(0.05) time=0.237004s/0.255834s
iteration(395) high(159) hyp(0.05) time=0.516131s/0.533767s
iteration(396) high(209) hyp(0.05) time=0.243328s/0.259728s
iteration(397) high(209) hyp(0.05) time=0.514957s/0.532712s
iteration(398) high(221) hyp(0.05) time=0.245775s/0.265080s
iteration(399) high(221) hyp(0.06) time=0.517099s/0.536582s
count = 400, loop closures = 30, max time (at 387) = 0.560649s
WM(192)=[9,8;12,2;13,0;15,1;21,5;26,4;29,2;31,1;35,3;37,1;39,0;42,0;46,0;48,1;51,2;55,3;58,2;61,2;64,2;66,1;68,1;71,2;74,2;77,2;80,2;82,1;85,2;87,1;89,1;91,1;93,1;95,1;96,0;97,0;98,0;99,0;100,0;101,0;103,1;104,0;105,0;106,0;107,0;108,0;110,1;112,1;114,1;116,1;118,1;120,1;122,1;124,1;125,0;126,0;128,1;130,1;132,1;134,1;136,1;138,1;139,0;140,0;141,0;142,0;143,0;145,1;147,1;148,0;149,0;150,0;151,0;152,0;154,1;155,0;156,0;157,0;158,0;159,0;160,0;161,0;162,0;163,0;164,0;165,0;166,0;167,0;168,0;169,0;171,1;173,1;177,3;179,1;181,1;183,1;185,1;187,1;189,1;192,2;194,1;195,0;197,1;199,1;201,1;203,1;205,1;207,1;209,1;211,1;213,1;215,1;217,1;219,1;221,1;223,1;225,1;227,1;229,1;231,1;233,1;235,1;238,2;241,2;244,2;247,2;250,2;251,0;252,0;253,0;254,0;256,1;257,0;259,1;261,1;262,0;264,1;266,1;268,1;269,0;271,1;272,0;274,1;276,0;278,1;280,0;281,0;283,1;284,0;286,1;287,0;288,0;289,0;290,0;291,0;293,1;295,1;297,1;299,0;300,0;301,0;302,0;304,1;305,0;306,0;307,0;309,1;311,1;312,0;313,1;314,0;315,0;316,0;317,2;319,4;321,1;323,1;325,1;327,1;329,1;330,0;331,0;332,0;334,1;336,1;337,0;339,2;341,1;343,2;345,2;347,1;349,1;350,0;352,1]
iteration(400) high(343) hyp(0.05) time=0.231889s/0.252826s
iteration(401) high(343) hyp(0.05) time=0.507560s/0.526749s
iteration(402) high(343) hyp(0.05) time=0.240629s/0.264752s
iteration(403) high(93) hyp(0.05) time=0.249691s/0.269046s
iteration(404) high(223) hyp(0.05) time=0.522158s/0.540455s
iteration(405) high(201) hyp(0.04) time=0.259420s/0.278296s
iteration(406) high(201) hyp(0.04) time=0.526376s/0.546704s
iteration(407) high(233) hyp(0.04) time=0.245555s/0.263020s
iteration(408) high(233) hyp(0.04) time=0.501317s/0.520348s
iteration(409) high(252) hyp(0.04) time=0.253477s/0.270937s
iteration(410) high(125) hyp(0.05) time=0.245540s/0.262550s
iteration(411) high(125) hyp(0.05) time=0.519164s/0.536175s
iteration(412) high(125) hyp(0.05) time=0.234484s/0.250974s
iteration(413) high(46) hyp(0.05) time=0.231757s/0.250451s
iteration(414) high(46) hyp(0.05) time=0.521092s/0.538462s
iteration(415) high(46) hyp(0.05) time=0.241932s/0.260222s
iteration(416) high(104) hyp(0.05) time=0.244439s/0.264592s
iteration(417) high(104) hyp(0.05) time=0.530846s/0.550271s
iteration(418) high(104) hyp(0.05) time=0.241280s/0.257569s
iteration(419) high(225) hyp(0.05) time=0.230399s/0.248424s
iteration(420) high(225) hyp(0.04) time=0.521149s/0.537991s
iteration(421) high(225) hyp(0.04) time=0.237355s/0.255202s
iteration(422) high(253) hyp(0.05) time=0.240503s/0.259142s
iteration(423) high(253) hyp(0.05) time=0.537519s/0.555830s
iteration(424) high(253) hyp(0.05) time=0.249589s/0.267451s
iteration(425) high(42) hyp(0.05) time=0.240669s/0.257243s
iteration(426) high(42) hyp(0.05) time=0.521720s/0.538072s
iteration(427) high(85) hyp(0.05) time=0.241612s/0.261370s
iteration(428) high(85) hyp(0.05) time=0.537326s/0.556675s
iteration(429) high(233) hyp(0.04) time=0.252361s/0.271208s
iteration(430) high(233) hyp(0.04) time=0.544272s/0.560750s
iteration(431) high(231) hyp(0.04) time=0.250307s/0.266752s
iteration(432) high(231) hyp(0.04) time=0.542478s/0.558911s
iteration(433) high(207) hyp(0.04) time=0.244483s/0.262560s
iteration(434) high(252) hyp(0.05) time=0.263989s/0.280345s
iteration(435) high(252) hyp(0.05) time=0.534872s/0.553905s
iteration(436) high(171) hyp(0.05) time=0.246586s/0.265781s
iteration(437) high(171) hyp(0.05) time=0.543723s/0.562024s
iteration(438) high(185) hyp(0.05) time=0.244482s/0.265112s
iteration(439) high(185) hyp(0.05) time=0.544435s/0.562139s
iteration(440) high(185) hyp(0.04) time=0.248711s/0.267311s
iteration(441) high(185) hyp(0.04) time=0.528156s/0.547987s
iteration(442) high(221) hyp(0.05) time=0.239031s/0.257258s
iteration(443) high(221) hyp(0.06) time=0.553805s/0.571501s
iteration(444) high(107) hyp(0.05) time=0.254347s/0.274714s
iteration(445) high(107) hyp(0.05) time=0.552153s/0.569301s
iteration(446) high(161) hyp(0.04) time=0.245354s/0.263958s
iteration(447) high(161) hyp(0.04) time=0.537602s/0.553647s
iteration(448) high(118) hyp(0.04) time=0.249584s/0.268119s
iteration(449) high(118) hyp(0.04) time=0.563245s/0.584627s
iteration(450) high(256) hyp(0.04) time=0.246819s/0.266259s
iteration(451) high(358) hyp(0.03) time=0.555127s/0.573520s
iteration(452) high(375) hyp(0.05) time=0.246028s/0.265700s
iteration(453) high(375) hyp(0.05) time=0.548335s/0.566915s
iteration(454) high(375) hyp(0.05) time=0.238341s/0.259039s
iteration(455) high(356) hyp(0.05) time=0.560365s/0.577987s
iteration(456) high(376) hyp(0.05) time=0.262205s/0.279098s
iteration(457) high(387) hyp(0.05) time=0.566012s/0.584459s
iteration(458) high(66) hyp(0.05) time=0.237659s/0.258610s
iteration(459) high(391) hyp(0.05) time=0.559891s/0.578225s
iteration(460) high(385) hyp(0.05) time=0.244691s/0.265573s
iteration(461) high(385) hyp(0.05) time=0.557444s/0.576563s
iteration(462) high(391) hyp(0.06) time=0.242401s/0.263626s
iteration(463) high(395) hyp(0.06) time=0.559643s/0.576490s
iteration(464) high(391) hyp(0.06) time=0.271231s/0.295142s
iteration(465) high(391) hyp(0.06) time=0.615316s/0.634710s
iteration(466) high(168) hyp(0.05) time=0.245840s/0.263840s
iteration(467) high(168) hyp(0.04) time=0.586323s/0.604327s
iteration(468) high(402) hyp(0.05) time=0.246499s/0.266075s
iteration(469) high(402) hyp(0.05) time=0.546923s/0.565389s
iteration(470) high(397) hyp(0.05) time=0.254154s/0.273081s
iteration(471) high(397) hyp(0.05) time=0.578334s/0.596788s
iteration(472) high(406) hyp(0.05) time=0.235967s/0.255683s
iteration(473) high(406) hyp(0.06) time=0.591254s/0.610688s
iteration(474) high(399) hyp(0.05) time=0.295778s/0.314632s
iteration(475) high(399) hyp(0.05) time=0.577877s/0.600218s
iteration(476) high(66) hyp(0.05) time=0.255254s/0.274758s
iteration(477) high(66) hyp(0.05) time=0.579001s/0.598285s
iteration(478) high(35) hyp(0.05) time=0.251918s/0.270805s
iteration(479) high(35) hyp(0.05) time=0.566602s/0.590152s
iteration(480) high(80) hyp(0.05) time=0.253479s/0.273894s
iteration(481) high(164) hyp(0.05) time=0.587421s/0.608232s
iteration(482) high(164) hyp(0.05) time=0.579083s/0.598180s
iteration(483) high(391) hyp(0.05) time=0.254582s/0.271211s
iteration(484) high(406) hyp(0.06) time=0.592365s/0.608632s
iteration(485) high(347) hyp(0.05) time=0.265912s/0.283754s
iteration(486) high(347) hyp(0.05) time=0.588193s/0.607325s
iteration(487) high(424) hyp(0.06) time=0.251663s/0.270797s
iteration(488) high(424) hyp(0.06) time=0.589485s/0.605921s
iteration(489) high(418) hyp(0.07) time=0.244982s/0.264722s
iteration(490) high(418) hyp(0.07) time=0.588883s/0.606827s
iteration(491) high(421) hyp(0.05) time=0.250144s/0.269675s
iteration(492) high(421) hyp(0.05) time=0.596504s/0.617721s
iteration(493) high(426) hyp(0.05) time=0.577427s/0.595830s
iteration(494) high(426) hyp(0.05) time=0.598771s/0.615413s
iteration(495) high(31) hyp(0.05) time=0.257947s/0.273536s
iteration(496) high(421) hyp(0.05) time=0.589631s/0.609243s
iteration(497) high(112) hyp(0.04) time=0.588165s/0.608380s
iteration(498) high(412) hyp(0.04) time=0.608655s/0.629975s
iteration(499) high(412) hyp(0.04) time=0.599295s/0.619549s
count = 500, loop closures = 30, max time (at 465) = 0.615316s
WM(241)=[9,8;12,2;13,0;15,1;21,5;26,4;29,2;31,1;35,3;37,1;39,0;42,0;46,0;48,1;51,2;55,3;58,2;61,2;64,2;66,1;68,1;71,2;74,2;77,2;80,2;82,1;85,2;87,1;89,1;91,1;93,1;95,1;96,0;97,0;98,0;99,0;100,0;101,0;103,1;104,0;105,0;106,0;107,0;108,0;110,1;112,1;114,1;116,1;118,1;120,1;122,1;124,1;125,0;126,0;128,1;130,1;132,1;134,1;136,1;138,1;139,0;140,0;141,0;142,0;143,0;145,1;147,1;148,0;149,0;150,0;151,0;152,0;154,1;155,0;156,0;157,0;158,0;159,0;160,0;161,0;162,0;163,0;164,0;165,0;166,0;167,0;168,0;169,0;171,1;173,1;177,3;179,1;181,1;183,1;185,1;187,1;189,1;192,2;194,1;195,0;197,1;199,1;201,1;203,1;205,1;207,1;209,1;211,1;213,1;215,1;217,1;219,1;221,1;223,1;225,1;227,1;229,1;231,1;233,1;235,1;238,2;241,2;244,2;247,2;250,2;251,0;252,0;253,0;254,0;256,1;257,0;259,1;261,1;262,0;264,1;266,1;268,1;269,0;271,1;272,0;274,1;276,0;278,1;280,0;281,0;283,1;284,0;286,1;287,0;288,0;289,0;290,0;291,0;293,1;295,1;297,1;299,0;300,0;301,0;302,0;304,1;305,0;306,0;307,0;309,1;311,1;312,0;313,1;314,0;315,0;316,0;317,2;319,4;321,1;323,1;325,1;327,1;329,1;330,0;331,0;332,0;334,1;336,1;337,0;339,2;341,1;343,2;345,2;347,1;349,1;350,0;352,1;353,0;354,0;356,1;358,1;359,0;361,1;362,0;363,0;365,1;367,1;369,1;371,1;372,0;374,1;375,0;376,0;378,1;380,1;381,0;382,0;383,0;385,1;387,1;389,1;391,1;393,1;395,1;397,1;399,1;402,2;404,1;406,1;409,2;412,2;415,2;418,2;421,2;424,2;426,1;428,1;430,1;433,2;435,1;437,1;439,1;441,1;443,1;445,1;447,1]
iteration(500) high(29) hyp(0.05) time=0.250266s/0.270402s
iteration(501) high(253) hyp(0.05) time=0.600321s/0.620518s
iteration(502) high(315) hyp(0.05) time=0.634635s/0.650987s
iteration(503) high(235) hyp(0.04) time=0.614131s/0.634621s
iteration(504) high(101) hyp(0.05) time=0.619743s/0.635450s
iteration(505) high(101) hyp(0.05) time=0.617479s/0.636047s
iteration(506) high(430) hyp(0.05) time=0.270164s/0.289803s
iteration(507) high(430) hyp(0.06) time=0.781219s/0.805556s
iteration(508) high(426) hyp(0.06) time=0.615488s/0.630730s
iteration(509) high(426) hyp(0.06) time=0.605062s/0.622920s
iteration(510) high(96) hyp(0.04) time=0.263500s/0.281523s
iteration(511) high(96) hyp(0.04) time=0.618370s/0.635722s
iteration(512) high(95) hyp(0.04) time=0.255392s/0.274684s
iteration(513) high(95) hyp(0.04) time=0.612869s/0.631276s
iteration(514) high(95) hyp(0.04) time=0.242176s/0.261884s
iteration(515) high(166) hyp(0.05) time=0.255151s/0.271226s
iteration(516) high(166) hyp(0.05) time=0.614896s/0.634057s
iteration(517) high(105) hyp(0.04) time=0.262850s/0.280830s
iteration(518) high(105) hyp(0.04) time=0.624685s/0.643428s
iteration(519) high(389) hyp(0.04) time=0.244655s/0.263150s
iteration(520) high(389) hyp(0.04) time=0.619651s/0.639618s
iteration(521) high(389) hyp(0.04) time=0.245438s/0.265519s
iteration(522) high(132) hyp(0.04) time=0.254370s/0.272578s
iteration(523) high(257) hyp(0.04) time=0.631895s/0.651359s
iteration(524) high(169) hyp(0.05) time=0.265769s/0.285602s
iteration(525) high(68) hyp(0.05) time=0.616877s/0.635043s
iteration(526) high(173) hyp(0.05) time=0.250114s/0.269309s
iteration(527) high(173) hyp(0.05) time=0.647408s/0.665149s
iteration(528) high(89) hyp(0.05) time=0.306333s/0.322988s
iteration(529) high(89) hyp(0.05) time=0.634827s/0.651764s
iteration(530) high(100) hyp(0.05) time=0.251909s/0.271582s
iteration(531) high(100) hyp(0.06) time=0.640608s/0.659009s
iteration(532) high(98) hyp(0.05) time=0.246337s/0.267259s
iteration(533) high(323) hyp(0.05) time=0.634985s/0.654535s
iteration(534) high(169) hyp(0.04) time=0.648625s/0.670033s
iteration(535) high(96) hyp(0.04) time=0.636361s/0.658521s
iteration(536) high(96) hyp(0.04) time=0.662023s/0.678653s
iteration(537) high(12) hyp(0.04) time=0.261129s/0.278172s
iteration(538) high(12) hyp(0.04) time=0.640760s/0.660726s
iteration(539) high(266) hyp(0.05) time=0.283224s/0.302631s
iteration(540) high(266) hyp(0.05) time=0.648946s/0.667542s
iteration(541) high(268) hyp(0.08) time=0.267155s/0.285224s
iteration(542) loop(266) hyp(0.13) time=0.649153s/0.671456s *
iteration(543) loop(266) hyp(0.23) time=0.639668s/0.660752s *
iteration(544) loop(266) hyp(0.48) time=0.651963s/0.670696s *
iteration(545) loop(268) hyp(0.83) time=0.255526s/0.273464s *
iteration(546) loop(268) hyp(0.96) time=0.652819s/0.671222s *
iteration(547) loop(268) hyp(0.97) time=0.264705s/0.283096s *
iteration(548) loop(269) hyp(0.98) time=0.661728s/0.682905s *
iteration(549) loop(271) hyp(0.98) time=0.666338s/0.685791s *
iteration(550) loop(271) hyp(0.98) time=0.641743s/0.662309s *
iteration(551) loop(272) hyp(0.98) time=0.646544s/0.667039s *
iteration(552) loop(274) hyp(0.98) time=0.674073s/0.694648s *
iteration(553) loop(274) hyp(0.96) time=0.653996s/0.675687s *
iteration(554) loop(276) hyp(0.96) time=0.649258s/0.671002s *
iteration(555) loop(278) hyp(0.94) time=0.663363s/0.684036s *
iteration(556) loop(278) hyp(0.94) time=0.660463s/0.677596s *
iteration(557) loop(280) hyp(0.92) time=0.245886s/0.265272s *
iteration(558) loop(280) hyp(0.93) time=0.658157s/0.676155s *
iteration(559) loop(281) hyp(0.91) time=0.671097s/0.691394s *
iteration(560) loop(281) hyp(0.92) time=0.671627s/0.687680s *
iteration(561) loop(283) hyp(0.92) time=0.668549s/0.684554s *
iteration(562) loop(284) hyp(0.93) time=0.691860s/0.708308s *
iteration(563) loop(286) hyp(0.96) time=0.666854s/0.686584s *
iteration(564) loop(286) hyp(0.97) time=0.679369s/0.701964s *
iteration(565) loop(287) hyp(0.98) time=0.668582s/0.688385s *
iteration(566) loop(288) hyp(0.98) time=0.687237s/0.707166s *
iteration(567) loop(290) hyp(0.98) time=0.663347s/0.685242s *
iteration(568) loop(291) hyp(0.97) time=0.670545s/0.690274s *
iteration(569) loop(293) hyp(0.97) time=0.677133s/0.697611s *
iteration(570) loop(295) hyp(0.97) time=0.674457s/0.690508s *
iteration(571) loop(297) hyp(0.97) time=0.686327s/0.707398s *
iteration(572) loop(297) hyp(0.96) time=0.703135s/0.720387s *
iteration(573) loop(299) hyp(0.96) time=0.687969s/0.707456s *
iteration(574) loop(300) hyp(0.95) time=0.704085s/0.720988s *
iteration(575) loop(301) hyp(0.94) time=0.680804s/0.699005s *
iteration(576) loop(304) hyp(0.96) time=0.701206s/0.721536s *
iteration(577) loop(304) hyp(0.98) time=0.726701s/0.747740s *
iteration(578) loop(305) hyp(0.97) time=0.658976s/0.675525s *
iteration(579) loop(307) hyp(0.97) time=0.694152s/0.713605s *
iteration(580) loop(309) hyp(0.97) time=0.697337s/0.717043s *
iteration(581) loop(311) hyp(0.98) time=0.696089s/0.716800s *
iteration(582) loop(311) hyp(0.96) time=0.717805s/0.734688s *
iteration(583) loop(312) hyp(0.96) time=0.693070s/0.710693s *
iteration(584) loop(313) hyp(0.94) time=0.692967s/0.709159s *
iteration(585) loop(315) hyp(0.84) time=0.704505s/0.721512s *
iteration(586) loop(316) hyp(0.59) time=0.688807s/0.706424s *
iteration(587) loop(317) hyp(0.38) time=0.677456s/0.696552s *
iteration(588) loop(319) hyp(0.28) time=0.683492s/0.704147s *
iteration(589) loop(321) hyp(0.25) time=0.700379s/0.720210s *
iteration(590) loop(321) hyp(0.24) time=0.723972s/0.740294s *
iteration(591) loop(323) hyp(0.24) time=0.694096s/0.713367s *
iteration(592) loop(325) hyp(0.22) time=0.672727s/0.692009s *
iteration(593) loop(325) hyp(0.23) time=0.718316s/0.735240s *
iteration(594) loop(327) hyp(0.23) time=0.704259s/0.721162s *
iteration(595) loop(327) hyp(0.23) time=0.685677s/0.702979s *
iteration(596) loop(329) hyp(0.24) time=0.260673s/0.279117s *
iteration(597) loop(329) hyp(0.23) time=0.675850s/0.695702s *
iteration(598) loop(330) hyp(0.24) time=0.696444s/0.716579s *
iteration(599) loop(331) hyp(0.24) time=0.706257s/0.723687s *
count = 600, loop closures = 89, max time (at 507) = 0.781219s
WM(303)=[9,8;12,2;13,0;15,1;21,5;26,4;29,2;31,1;35,3;37,1;39,0;42,0;46,0;48,1;51,2;55,3;58,2;61,2;64,2;66,1;68,1;71,2;74,2;77,2;80,2;82,1;85,2;87,1;89,1;91,1;93,1;95,1;103,1;110,1;112,1;114,1;116,1;118,1;120,1;122,1;124,1;128,1;130,1;132,1;134,1;136,1;138,1;141,0;142,0;143,0;145,1;147,1;148,0;149,0;150,0;151,0;152,0;154,1;155,0;156,0;157,0;158,0;159,0;160,0;161,0;162,0;163,0;164,0;165,0;166,0;167,0;168,0;169,0;171,1;173,1;177,3;179,1;181,1;183,1;185,1;187,1;189,1;192,2;194,1;195,0;197,1;199,1;201,1;203,1;205,1;207,1;209,1;211,1;213,1;215,1;217,1;219,1;221,1;223,1;225,1;227,1;229,1;231,1;233,1;235,1;238,2;241,2;244,2;247,2;250,2;251,0;252,0;253,0;254,0;256,1;257,0;259,1;261,1;262,0;264,1;266,0;268,0;269,0;271,0;272,0;274,0;276,0;278,0;280,0;281,0;283,0;284,0;286,0;287,0;288,0;289,0;290,0;291,0;293,0;295,0;297,0;299,0;300,0;301,0;302,0;304,0;305,0;306,0;307,0;309,0;311,0;312,0;313,0;314,0;315,0;316,0;317,0;319,0;321,0;323,0;325,0;327,0;329,0;330,0;331,0;332,0;334,1;336,1;337,0;339,2;341,1;343,2;345,2;347,1;349,1;350,0;352,1;353,0;354,0;356,1;358,1;359,0;361,1;362,0;363,0;365,1;367,1;369,1;371,1;372,0;374,1;375,0;376,0;378,1;380,1;381,0;382,0;383,0;385,1;387,1;389,1;391,1;393,1;395,1;397,1;399,1;402,2;404,1;406,1;409,2;412,2;415,2;418,2;421,2;424,2;426,1;428,1;430,1;433,2;435,1;437,1;439,1;441,1;443,1;445,1;447,1;449,1;451,1;453,1;455,1;457,1;459,1;461,1;463,1;465,1;467,1;469,1;471,1;473,1;475,1;477,1;479,1;480,0;482,1;484,1;486,1;488,1;490,1;491,0;492,0;494,1;495,0;496,0;497,0;499,1;500,0;501,0;502,0;503,0;505,1;507,1;509,1;511,1;514,2;516,1;518,1;521,2;523,1;525,1;527,1;529,1;531,1;532,0;533,0;534,0;536,1;538,1;540,1;541,0;542,1;544,1;546,2;547,0;548,0;549,1;550,0;551,0;552,1;553,0;554,0;556,2;557,0;558,0;559,0;560,0;561,1;562,0;563,1;564,0;565,0;566,0;567,0;568,0]
iteration(600) loop(332) hyp(0.25) time=0.698486s/0.719119s *
iteration(601) loop(334) hyp(0.24) time=0.713973s/0.731328s *
iteration(602) loop(334) hyp(0.25) time=0.712287s/0.731358s *
iteration(603) loop(336) hyp(0.25) time=0.690556s/0.708194s *
iteration(604) loop(336) hyp(0.28) time=0.694632s/0.711697s *
iteration(605) loop(337) hyp(0.29) time=0.259189s/0.279629s *
iteration(606) loop(339) hyp(0.25) time=0.806506s/0.828282s *
iteration(607) loop(341) hyp(0.21) time=0.685854s/0.706087s *
iteration(608) loop(341) hyp(0.21) time=0.706499s/0.724345s *
iteration(609) loop(343) hyp(0.21) time=0.695737s/0.713686s *
iteration(610) loop(343) hyp(0.20) time=0.704122s/0.720994s *
iteration(611) loop(345) hyp(0.21) time=0.692820s/0.710197s *
iteration(612) loop(345) hyp(0.21) time=0.702043s/0.719534s *
iteration(613) loop(347) hyp(0.24) time=0.694570s/0.711642s *
iteration(614) loop(349) hyp(0.28) time=0.702445s/0.720646s *
iteration(615) loop(349) hyp(0.45) time=0.690702s/0.706372s *
iteration(616) loop(350) hyp(0.73) time=0.712816s/0.732539s *
iteration(617) loop(352) hyp(0.93) time=0.701381s/0.719680s *
iteration(618) loop(353) hyp(0.97) time=0.716915s/0.744741s *
iteration(619) loop(353) hyp(0.98) time=0.698189s/0.715856s *
iteration(620) loop(354) hyp(0.98) time=0.694197s/0.713877s *
iteration(621) loop(356) hyp(0.98) time=0.804739s/0.824744s *
iteration(622) loop(358) hyp(0.98) time=0.693107s/0.709582s *
iteration(623) loop(359) hyp(0.98) time=0.711922s/0.730525s *
iteration(624) loop(359) hyp(0.98) time=0.711234s/0.732400s *
iteration(625) loop(359) hyp(0.95) time=0.719177s/0.737886s *
iteration(626) loop(361) hyp(0.94) time=0.722143s/0.743370s *
iteration(627) loop(361) hyp(0.89) time=0.718657s/0.735823s *
iteration(628) loop(361) hyp(0.85) time=0.692243s/0.710813s *
iteration(629) loop(359) hyp(0.64) time=0.272384s/0.290925s *
iteration(630) loop(359) hyp(0.43) time=0.686859s/0.707487s *
iteration(631) loop(358) hyp(0.25) time=0.702608s/0.724580s *
iteration(632) loop(359) hyp(0.16) time=0.712228s/0.729623s *
iteration(633) high(361) hyp(0.08) time=0.709944s/0.731565s
iteration(634) high(354) hyp(0.05) time=0.722229s/0.744069s
iteration(635) high(359) hyp(0.05) time=0.694041s/0.712577s
iteration(636) high(359) hyp(0.04) time=0.700280s/0.720156s
iteration(637) high(350) hyp(0.04) time=0.723572s/0.740661s
iteration(638) high(359) hyp(0.05) time=0.713850s/0.738413s
iteration(639) high(359) hyp(0.05) time=0.719774s/0.737821s
iteration(640) high(559) hyp(0.05) time=0.728585s/0.745911s
iteration(641) high(302) hyp(0.06) time=0.719828s/0.743780s
iteration(642) high(608) hyp(0.06) time=0.726929s/0.743410s
iteration(643) high(557) hyp(0.06) time=0.724833s/0.745193s
iteration(644) high(358) hyp(0.06) time=0.742718s/0.765937s
iteration(645) high(570) hyp(0.06) time=0.727609s/0.744993s
iteration(646) high(570) hyp(0.05) time=0.713763s/0.734682s
iteration(647) high(350) hyp(0.05) time=0.749289s/0.770199s
iteration(648) high(352) hyp(0.06) time=0.719116s/0.739012s
iteration(649) high(352) hyp(0.06) time=0.728103s/0.752316s
iteration(650) high(229) hyp(0.05) time=0.721136s/0.746539s
iteration(651) high(349) hyp(0.06) time=0.722122s/0.739807s
iteration(652) high(620) hyp(0.05) time=0.721104s/0.737883s
iteration(653) high(343) hyp(0.05) time=0.733525s/0.734525s
Processing images completed. Loop closures found = 121
Total time = 261.066948s
Generate ground truth to file GroundTruth_generated.bmp, size of 653
Creating ground truth file = 0.001260s
Cleanup time = 3.675254s
Database ("rtabmapconsole.db") and log files saved to current directory